Special topic breakout: IGT for Prostate

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Prostate IGT Breakout Session

June 26th, 11am-noon

Location: Grier Rooms A & B: 34-401A & 34-401B

Invited Attendees

• Clare Tempany, BWH
• Clif Burdette, Acousticmed
• Jack Blevins, Acousticmed
• Greg Fischer, JHU
• Gabor Fichtinger, Queens
• Csaba Csoma, JHU
• David Gobbi, Queens
• Purang Abolmaesumi, Queens
• Robert Cormack, BWH
• Noby Hata, BWH
• Junichi Tokuda, BWH
• Haiying Liu, BWH

Agenda

Technical updates

3-4 slides from each group.

Clinical workflow

Review followings:

• Clinical workflow for prostate biopsy/brachytherapy
• System diagram
• State (mode) transition

Communication protocol

Define communication protocol between subsystems

Loadmap for next 1 year

Milestones (meetings, experiments, deadlines for conferences, clinical studies, etc)

Technical Updates

BWH

• Scanner control interface (NaviTrack)
• Real-time image transfer interface (NaviTrack)
• Z-frame tracking for manipulator calibration
• 3D Slicer 3.0 prostate module

Workflow

Phase	Navigation	Manipulator	Scanner & real-time image process
Preparation	-Master physician interface console located in suite	-Connections to pressurized air. -Connections between robotic device and control unit -Connections between master interface and control unit -Sterilization and draping kit -Sterile needle driver kit and needles.	-Imaging coils -Sterilization and draping kit
Planning	-Load diagnostic images -Load pre-operative images -Define targets		-Acquire pre-operative image(T1W, T2W)
Calibration		-Calculate transformation matrix between Patient and robot coordinates	-Real-time imaging -Z-frame tracking
Operation	-Real-time image display -Real-time imaging control based on manipulator position -Receive manipulator control command from user -Send manipulator control command to manipulator -Receive manipulator information -Send imaging command to scanner	-Receive control command from navigation software -Drive manipulator
Manual